/* Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 *
 * Copyright 2024 INRIA.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef BulletR_hpp
#define BulletR_hpp

#include "BulletSiconosFwd.hpp"
#include "ContactR.hpp"

class BulletR : public ContactR {
private:

  ACCEPT_SERIALIZATION(BulletR);

public:
  BulletR();

  virtual ~BulletR() {}

  /* For users that may require extra information about contacts. */
  SP::btCollisionObject btObject[2];
  SP::btCollisionShape btShape[2];

  virtual void updateContactPointsFromManifoldPoint(
      const btPersistentManifold &manifold, const btManifoldPoint &point,
      bool flip, double scaling, SP::NewtonEulerDS ds1, SP::NewtonEulerDS ds2);

  void display() const override;

  ACCEPT_STD_VISITORS();
};

#endif
